diff --git a/ball_detector/launch/ball_detector_from_usb_cam.launch b/ball_detector/launch/ball_detector_from_usb_cam.launch
index 2ae61c6..1535edd 100644
--- a/ball_detector/launch/ball_detector_from_usb_cam.launch
+++ b/ball_detector/launch/ball_detector_from_usb_cam.launch
@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
 <!-- Launches an UVC camera, the ball detector and its visualization  -->
-<launch>    
+<launch>
     <!-- UVC camera -->
     <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
         <param name="video_device" type="string" value="/dev/video0" />
-        <param name="image_width" type="int" value="800" />
-        <param name="image_height" type="int" value="600" />
-<!--         <param name="image_width" type="int" value="1600" />
-        <param name="image_height" type="int" value="896" /> -->
+        <!--param name="image_width" type="int" value="800" />
+        <param name="image_height" type="int" value="600" /-->
+        <param name="image_width" type="int" value="1280" />
+        <param name="image_height" type="int" value="720" />
         <param name="framerate " type="int" value="30" />
+        <param name="camera_frame_id" type="string" value="cam_link" />
         <param name="camera_name" type="string" value="camera" />
         <param name="autofocus" type="bool" value="False" />
         <param name="autoexposure" type="bool" value="False" />
@@ -16,6 +17,8 @@
         <param name="gain" value="255" />
         <param name="brightness" value="64" />
         <param name="exposure" value="80" />
+        <param name="camera_info_url" type="string"
+            value="file://$(find ar_pose)/data/camera_1280720.yaml" />
     </node>
 <!--         <param name="gain" value="255" />
         <param name="auto_exposure" type="bool" value="False" />
@@ -23,7 +26,7 @@
         <param name="brightness" value="127" />
         <param name="auto_white_balance" type="bool" value="False" />
         <param name="white_balance_temperature" value="2800" /> -->
-        
+
         <!-- <param name="auto_exposure" type="bool" value="False" /> -->
         <!-- <param name="exposure_absolute" value="1000" /> -->
         <!-- <param name="brightness" value="64" /> -->
@@ -34,4 +37,3 @@
     <include file="$(find ball_detector)/launch/ball_detector.launch" />
 
 </launch>
-